Figueroa spent 1986 through 1991 in the St. Louis Cardinals minor league affiliates before making his major league debut on May 17, 1992. His last MLB appearance was on October 4, 1992, and spent 1993 and 1994 in the minor leagues with the Cardinals and Montreal Expos organizations. In 1995 after being released by the Texas Rangers organization, Figueroa joined the Uni-President Lions of the Chinese Professional Baseball League and won the Taiwan Series. Figueroa split the 1996 season between the Colorado Rockies and Baltimore Orioles organizations and the Diablos Rojos del Mexico of the Mexican League.
He later managed in the minor leagues with the Bluefield Orioles, Delmarva Shorebirds, Frederick Keys, Bowie Baysox, and the Connecticut Defenders.
Figueroa's son, Cole, played in MLB and is currently in the Tampa Bay Rays front office.

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